Part 1: SYSTEM RESPONSE (mainly revisions)

A
1 + sT

Summary of first order systems:

Specified by two parameters Gain (A) and
Time-constant (T).
Output reaches steady state after input, hence
name LAG

A first order system has a gain of 10 and a

time-constant of 1 msec,
What is its transfer function?

Part 1: SYSTEM RESPONSE - Example

Example: Describe the system, if the transfer function of a system
is given as

20
s+4
20
5
=
s + 4 1 + 0.25 s

Hence:
A first order system
Gain is 5
Time-constant is 0.25 s

Part 1: SYSTEM RESPONSE

From Characteristic Equation to POLES
t
1Loosely,
the term pole indicates that the
T
evalue
value
of the transfer function is infinite.
infinite

The roots (or eigenvalues) of the CE

locate the poles of the system.

k
s +

We can represent the position of the

pole(s) on the s-plane by means of a
cross.

Im (j)

Our example (of the first order lag

system) has one real pole, at s = -

Re ()

Part 1: SYSTEM RESPONSE

Second Order Systems
In the previous examples

Characteristic Equation

10
(s + 1)(s + 10 )

(s + 1)(s + 10 ) = 0
s 2 + 11s + 10 = 0

Two real poles

two decaying exponential terms in transient response
More generally, roots of quadratic (of CE) are COMPLEX

Part 1: SYSTEM RESPONSE

Second Order Systems - Example

5
s 2 + 2s + 5

Characteristic Equation

s 2 + 2s + 5 = 0
A pair of conjugate poles

s1 = 1 + j 2;
s 2 = 1 j 2

-1

s1, 2 = 1 j 2

Part 1: SYSTEM RESPONSE

Second Order Systems - Example

s1, 2 = 1 j 2

-1

Amplitude decaying
at e-t

Frequency of
oscillation = 2 rad/s

Part 1: SYSTEM RESPONSE

Second Order Systems Standard Form

n 2
2
s 2 + 2 n s + n

n -- Natural Frequencyy
-- Damping ratio, or damping factor
ONLY for complex poles

Part 2: SYSTEM RESPONSE

Second Order Systems Standard Form
Poles are roots of CE

s 2 + 2 n s + n = 0
2

s1, 2 = n n 2 1

Four important cases

= 0 undamped
= 0 1, under-damped
= 1, critical damping
> 1, over-damped

Part 2: SYSTEM RESPONSE

Pole locations
Pole far from the axis
Shorter time-constant
Faster response.
Pole in Left Half-plane
Stable System
Pole in Right Half-plane
Unstable System
S stem
Pole on axis
Marginally Stable

Part 2: SYSTEM RESPONSE

Cascade systems and dominant pole

1
s +1

10
s +10

10
(s + 1)(s + 10 )

S
System
stem C.E.
CE
(s+1)(s+10)=0
System poles at
s = -1; and s = -10

Revision: complex numbers or vectors

Im

Y = a + jb

Y = Me

Re

Y = Y = M

M = a 2 + b2
1 b

= tan
a

a = M cos( )
b = M sin( )

Revision: basic operations of complex

numbers
M=1:

e j = cos(( ) + j sin(( )
e j = cos( ) j sin( )

cos( ) =

e j + e j
2

e j e j
sin( ) =
2j

Revision: basic operations of complex

numbers

(a + jjb) + (c +

jjd ) = (a + c ) + j (b + d )

(a + jb) (c +

jd ) = (a c ) + j (b d )

(a + jb) (c +

jd ) = ac + jad + jbc bd
= (ac bd ) + j (ad + bc )

a + jb a + jb c jd
=

c + jd c + jd c jd

(ac + bd ) + j (bc ad )
c2 + d 2

Revision: Basic operations of complex

numbers

(a + jb) = M1e j
(c +

jd ) = M 2e j 2

(a + jb) (c +

)(

jd ) = M1e j1 M 2e j 2
= (M1 M 2 )e j (1 + 2 ) = M m e j m

a + jb M1e j1
M1 j (1 2 )
=
e
= M n e j n
c + jd M 2e j 2 =
M2

Revision: Basic operations of complex

numbers

e ( + j )t = e t e jt

= e t (cos(t ) j sin( t ) )

e ( j )t = e t e + jt

= e t (cos(t ) + j sin( t ) )
Ae (1 j 2 ) t + Be (1+ j 2 ) t